12 papers
MISTac: A Vision-Based Tactile Sensor for Minimally Invasive Surgery
Robin Koch, Annabella Mascot, Rayan Younis +5
Minimally invasive and robot-assisted surgery offer many advantages over traditional open surgery, but deprive surgeons of tactile feedback and the ability to palpate tissue with t…
Multisensory Continual Learning: Adapting Pretrained Visuomotor Policies to Force
Jaden Clark, Changhao Wang, Yihuai Gao +5
Robot manipulation often relies on sensory feedback beyond vision, particularly in contact-rich settings where force, tactile, or audio signals reveal interaction states that are n…
Long-Reach Robotic Cleaning for Lunar Solar Arrays
Stanley Wang, Velin Kojouharov, Long Yin Chung +2
Commercial lunar activity is accelerating the need for reliable surface infrastructure and routine operations to keep it functioning. Maintenance tasks such as inspection, cleaning…
UMI-Underwater: Learning Underwater Manipulation without Underwater Teleoperation
Hao Li, Long Yin Chung, Jack Goler +5
Underwater robotic grasping is difficult due to degraded, highly variable imagery and the expense of collecting diverse underwater demonstrations. We introduce a system that (i) au…
Interdisciplinary Workshop on Mechanical Intelligence: Summary Report
Victoria A. Webster-Wood, Nicholas Gravish, Amir Alavi +37
This report provides a summary of the outcomes of the Interdisciplinary Workshop on Mechanical Intelligence held in 2024. Mechanical Intelligence (MI) represents the phenomenon tha…
Multimodal Sensing for Robot-Assisted Sub-Tissue Feature Detection in Physiotherapy Palpation
Tian-Ao Ren, Jorge Garcia, Seongheon Hong +6
Robotic palpation relies on force sensing, but force signals in soft-tissue environments are variable and cannot reliably reveal subtle subsurface features. We present a compact mu…